#!/bin/sh
#
# @name Plane SITL
#

. ${R}etc/init.d/rc.fw_defaults

if [ $AUTOCNF = yes ]
then
	param set EKF2_ARSP_THR 8
	param set EKF2_FUSE_BETA 1
	#param set EKF2_MAG_ACCLIM 0
	#param set EKF2_MAG_YAWLIM 0

	param set FW_LND_AIRSPD_SC 1.1
	param set FW_LND_ANG 5
	param set FW_THR_LND_MAX 0
	param set FW_LND_HHDIST 30
	param set FW_LND_FL_PMIN 9.5
	param set FW_LND_FL_PMAX 20
	param set FW_LND_FLALT 5
	param set FW_LND_TLALT 15

	param set FW_L1_PERIOD 25

	param set FW_P_TC 0.4
	param set FW_PR_FF 0.40
	param set FW_PR_I 0.05
	param set FW_PR_P 0.05

	param set FW_R_TC 0.45
	param set FW_RR_FF 0.40
	param set FW_RR_I 0.132
	param set FW_RR_P 0.085

	param set FW_W_EN 1

	param set MIS_LTRMIN_ALT 30
	param set MIS_TAKEOFF_ALT 20
	param set MIS_DIST_1WP 2500
	param set MIS_DIST_WPS 10000

	param set NAV_ACC_RAD 15
	param set NAV_DLL_ACT 2
	param set NAV_LOITER_RAD 50

	param set RWTO_TKOFF 1
	param set RWTO_MAX_PITCH 20
	param set RWTO_MAX_ROLL 10
	param set RWTO_PSP 8
	param set RWTO_AIRSPD_SCL 1.8

fi

set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
set MIXER custom
